CN117818371A - Active damping control method, device and computer readable storage medium - Google Patents
Active damping control method, device and computer readable storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application discloses an active damping control method, an active damping control device and a computer readable storage medium, wherein the method comprises the following steps: and acquiring the motor rotating speed fluctuation quantity of the motor, inputting the motor rotating speed fluctuation quantity into an adaptive algorithm to calculate to obtain the torque compensation quantity of active damping, and finally compensating the motor torque through the torque compensation quantity. Therefore, the motor torque compensation quantity is calculated based on the self-adaptive algorithm, the motor torque is compensated through the torque compensation quantity, and when the speed abrupt change is counteracted, the vehicle body shakes caused by the backlash problem, the running safety of the vehicle is improved, and the driving and riding experience of a user is further improved.
Description
Technical Field
The application relates to the technical field of new energy electric automobiles, in particular to an active damping control method, an active damping control device and a computer readable storage medium.
Background
With the shortage of non-renewable energy sources and the continuous aggravation of environmental pollution, new energy automobiles are rapidly developed. In the running process of the vehicle, if the gear backlash of the vehicle is larger, when the speed of the vehicle is suddenly changed, the vehicle body can shake, so that the driving and riding experience of a user is reduced.
Therefore, how to solve the problem of gear rattle of a new energy automobile, avoid the automobile body shake of the automobile due to abrupt speed change and large gear backlash, improve the anti-jamming capability of the automobile, and further improve the driving and riding experience of a user is a problem to be solved urgently by the person skilled in the art.
Disclosure of Invention
In view of this, one aspect of the present application provides an active damping control method comprising:
acquiring the motor rotation speed fluctuation quantity of a motor;
inputting the fluctuation quantity of the motor rotating speed into an adaptive algorithm to calculate to obtain the torque compensation quantity of active damping;
and compensating the motor torque by the torque compensation amount.
Another aspect of the present application provides an active damping control device comprising:
the acquisition module is used for acquiring the motor rotating speed fluctuation quantity of the motor;
the calculation module is used for inputting the fluctuation quantity of the motor rotating speed into the self-adaptive algorithm to calculate to obtain the torque compensation quantity of active damping;
and the compensation module is used for compensating the motor torque through the torque compensation quantity.
Another aspect of the present application provides an active damping control device comprising: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the active damping control method when executing the program
Another aspect of the present application provides a computer-readable storage medium, which when executed by a processor, implements steps of an active damping control method.
The active damping control method, the active damping control device and the computer readable storage medium provided by the application have the following beneficial effects: and calculating the motor torque compensation quantity based on the self-adaptive algorithm, and compensating the motor torque through the torque compensation quantity, so as to offset the vehicle body shake caused by the backlash problem when the speed is suddenly changed, improve the running safety of the vehicle, and further improve the driving and riding experience of a user.
Drawings
FIG. 1 is a flow chart of an active damping control method according to an embodiment of the present disclosure;
FIG. 2 is a control block diagram of an active damping control method according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of an active damping control method according to another embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating the result of an active damping control method according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an active damping control device according to another embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an active damping control device according to another embodiment of the present application.
The reference numerals are as follows: reference numeral 60 denotes a memory, 61 denotes a processor, 62 denotes a display screen, 63 denotes an input/output interface, 64 denotes a communication interface, 65 denotes a power supply, 66 denotes a communication bus, 601 denotes a computer program, 602 denotes an operating system, and 603 denotes data.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
In the rapid development of new energy automobiles, the problem of gear-breaking of the automobiles is always a crucial research direction, and when the automobile is suddenly broken in speed in the driving process, the gear backlash of gears can not be smoothly meshed or hard collision occurs, so that the automobile body is dithered, the gear-shifting and the safe driving of the automobile are affected, and the driving and riding experience of users is reduced.
In order to solve the technical problems, the embodiment of the application provides an active damping control method, wherein a torque compensation quantity is calculated through a self-adaptive algorithm, so that motor torque is compensated through the torque compensation quantity, vehicle body shake caused by backlash is offset when a vehicle speed suddenly changes, and vehicle running safety is improved.
Fig. 1 is a flow chart of an active damping control method according to an embodiment of the present application, as shown in fig. 1, the method includes:
s10: and acquiring the motor rotation speed fluctuation quantity of the motor.
Fig. 2 is a control block diagram of an active damping control method according to an embodiment of the present application, in a specific embodiment, when compensation for a motor is implemented by calculating a torque compensation amount, as shown in fig. 2, a rotational speed fluctuation amount of the motor is obtained first, and it is to be noted that the rotational speed fluctuation amount of the motor refers to an error between an actual rotational speed of the motor and a rotational speed (target rotational speed) of the motor after the actual rotational speed is filtered.
In practice, the motor rotational speed fluctuation amount is determined, and in addition to the torque compensation amount, as shown in fig. 2, the rated torque amount can be generated by PI control after the motor rotational speed fluctuation amount is obtained.
It should be noted that, in some alternative embodiments, the actual rotation speed of the motor may be acquired through a corresponding sensor, and the method for acquiring the rotation speed of the motor is not specifically limited in this application.
S11: and inputting the fluctuation quantity of the motor rotating speed into an adaptive algorithm to calculate so as to obtain the torque compensation quantity of active damping.
S12: and compensating the motor torque by the torque compensation amount.
After the motor rotational speed fluctuation amount is obtained in step S10, the motor rotational speed fluctuation amount is transmitted to an adaptive algorithm to calculate to obtain an active damping torque compensation amount, and it is understood that the torque compensation amount refers to a torque value that compensates for torque loss of the motor due to external factors under certain specific working conditions and is additionally added to the motor torque. After the torque value is increased to compensate the torque loss, the vehicle body shake caused by speed abrupt change and backlash of the vehicle can be counteracted.
It can be understood that when the torque compensation amount is calculated, since the adaptive control can maintain good performance when the system characteristics change, the adaptive control has a certain resistance to model inaccuracy, noise and external interference, and the robustness of the motor system can be improved. In addition, the parameters of the controller can be quickly adjusted according to the information fed back by the motor in real time, and the calculation accuracy of the torque compensation quantity is ensured. Therefore, the torque compensation quantity can be calculated through the self-adaptive algorithm, and the problem of vehicle tooth punching can be effectively solved.
It should be noted that, in some alternative embodiments, the adaptive algorithm may be model reference adaptive or feed-forward adaptive control, which is not specifically limited in this application.
Further, the motor torque is compensated by the torque compensation amount, thereby compensating the loss of the motor torque. Specifically, as shown in fig. 2, the torque compensation amount is calculated by an adaptive algorithm, the rated torque amount is calculated by a PI algorithm, the feedback torque is calculated according to the current of the DQ axis of the motor, and the target torque T finally input to the inverter is calculated by combining the two.
Thus, the active damping control method provided by the embodiment of the application comprises the following steps: and acquiring the motor rotating speed fluctuation quantity of the motor, inputting the motor rotating speed fluctuation quantity into an adaptive algorithm to calculate to obtain the torque compensation quantity of active damping, and finally compensating the motor torque through the torque compensation quantity. Therefore, the motor torque compensation quantity is calculated based on the self-adaptive algorithm, the motor torque is compensated through the torque compensation quantity, and when the speed abrupt change is counteracted, the vehicle body shakes caused by the backlash problem, the running safety of the vehicle is improved, and the driving and riding experience of a user is further improved.
In order to improve torque compensation efficiency and accuracy, as a preferred embodiment, the adaptive algorithm may be a model reference adaptive control algorithm. It can be appreciated that the model reference adaptive control algorithm has the advantages of simple design, easy implementation, high tolerance to uncertainty, and capability of realizing quick response, etc., so that in a preferred embodiment, the adaptive algorithm can be a model reference adaptive control algorithm.
Therefore, the active damping control method provided by the embodiment of the application optimizes the self-adaptive algorithm to be the model reference self-adaptive control algorithm, so that the quick and accurate compensation of the motor torque can be realized, and the safety and reliability of a motor system are improved.
Fig. 3 is a schematic flow chart of an active damping control method according to another embodiment of the present application, and as an alternative embodiment, as shown in fig. 3, the step of inputting the fluctuation amount of the rotational speed of the motor into the adaptive algorithm to calculate the torque compensation amount of the active damping includes:
s30: acquiring a mechanical motion equation of a motor;
in a specific embodiment, the mechanical equation of motion of the motor may be expressed as:
wherein T is e Is the electromagnetic torque of the motor, T L Is the load torque of the motor, J is torque inertia, B is damping coefficient, and is the actual motor rotation speed omega of the motor m 。
S31: and determining a first-order differential equation of a reference model in the model reference adaptive control algorithm according to the mechanical motion equation.
In order to realize the rapid tracking performance of the rotating speed, the reference model output omega of the reference model in the model reference adaptive control algorithm is utilized d Comparing with a target rotation speed error, wherein the target rotation speed error is the actual rotation speed omega m And the desired rotational speed. Under the action of the self-adaptive mechanism, the output of the tracking reference model, which can quickly track the rotation speed error, is converged to 0. Thus, the first order differential equation form of the reference model in the model reference adaptive control algorithm can be determined from the mechanical motion equation of the motor equation (1):
wherein omega d For output of reference model τ d Is a positive constant.
Since the mechanical motion equation of the motor in the formula (1) is in the form of a first-order differential equation, when the model is selected to be referenced to the reference model in the adaptive control algorithm, the mechanical motion equation based on the motor is selected to be in the form of a first-order differential equation shown in the formula (2).
S32: and converting the first-order differential equation into an exponential decay form to obtain a target equation.
Further, converting equation (2) into an exponentially decaying form yields the objective equation as follows:
where c is a normal number determined by the initial state.
S33: and determining an error dynamic equation in the model reference adaptive control algorithm according to the mechanical motion equation, the target equation and the motor rotating speed fluctuation quantity.
The error dynamic equation in the reference adaptive algorithm is determined according to the mechanical motion equation (formula (1)), the target equation (formula (3)), and the motor rotational speed fluctuation amount. Specifically, the electromagnetic torque T can be determined according to the formula (1) e Load torque T L Torque inertia J and damping coefficient B. The reference model output ω can be determined according to equation (3) d . The rotational speed fluctuation amount of the motor is the actual rotational speed ω of the motor m Rotational speed (target rotational speed) ω after filtering with the actual rotational speed r Is a difference in (c).
Thus, the error dynamic equation in the model reference adaptive control algorithm can be obtained:
wherein omega m For the actual rotational speed of the motor omega r For the actual rotation speed omega m And carrying out the target rotating speed after filtering.
S34: the combined tracking error is defined based on an error dynamic equation.
Further, a combined tracking error may be defined according to the error dynamic equation determined in step S33:
σ＝δe 1 +e 2 (5)
wherein sigma is the combined heel group error, delta is a coefficient, e 1 And e 2 Is the two vectors converted according to equation (4).
It should be noted that the combined tracking error refers to the difference between the actual system output and the ideal reference model output. This difference is used to drive the parameter tuning process of the controller so as to bring the dynamics of the actual system as close as possible to the selected reference model.
S35: the torque compensation amount is determined based on the combined tracking error.
Determining the torque compensation amount based on the obtained combined heel group error sigma, in particularAs torque compensation quantity (or called adaptive compensation term), wherein +.>Is the actual value Γ of the torque * Estimate of (i.e.; j)>As the torque estimation value, the torque estimation valueThe updating mode of (a) is as follows:
wherein,an adaptive scaling factor that is positive, +.>And->Respectively a vector, torque estimation value +.>Is bounded.
Further, the torque estimation valueCan be written as:
the torque compensation amount (adaptive compensation term) can be obtained according to the formula (7)
In a specific embodiment, as shown in FIG. 2, the torque compensation amount is calculated by inputting the rotational speed fluctuation amount into a model and referring to an adaptive control algorithmAnd generates rated torque quantity T through PI control 1 The feedback torque T is calculated according to the DQ axis current of the motor 2 。
Specifically, the rated torque T is obtained according to the formula (5) 1 I.e. T 1 ＝-kσ。
Thus, the torque calculation module as shown in fig. 2 can calculate the final target torque T of the input inverter as:
fig. 4 is a schematic diagram of the result of an active damping control method provided in the embodiment of the present application, in a specific embodiment, a simulink is used for simulation, and the motor is used for testing the rotation speed fluctuation before and after the active damping is increased at 600 revolutions, as shown in fig. 4, after the active damping control method provided in the embodiment of the present application is added, the rotation speed fluctuation is reduced from 587r/min to 598r/min, so that the problem of vehicle tooth-breaking is avoided.
Therefore, according to the active damping control method provided by the embodiment of the application, based on the double closed loops of the rotating speed and the torque, the torque compensation quantity of the motor is calculated through the model reference self-adaptive control algorithm, and the torque loss of the motor is compensated through the torque compensation quantity, so that the rapid and accurate compensation can be realized, the tooth-striking problem of a vehicle during abrupt speed change is avoided, and the running safety of the vehicle is improved.
In an alternative embodiment, acquiring the motor rotational speed fluctuation amount of the motor includes:
acquiring the actual rotating speed of a motor;
filtering the actual rotating speed of the motor to obtain a target rotating speed;
and taking the difference value between the target rotating speed and the actual rotating speed of the motor as the fluctuation quantity of the rotating speed of the motor.
In a specific embodiment, the actual motor speed omega of the motor is obtained m And the actual rotation speed omega of the motor m Filtering to obtain a filtered target rotating speed omega r . When the filtering is performed, a first-order low-pass filtering, a second-order low-pass filtering and a Kalman filtering can be selected, and the application is not particularly limited. However, the rotation speed after kalman filtering is the smoother, but the response efficiency is lower, the first-order low-pass filtering has the fastest response efficiency, but the filtering effect is poorer, so in order to achieve both the filtering effect and the response speed, the embodiment of the application preferably uses the second-order low-pass filtering to realize the actual rotation speed omega of the motor m Filtering is performed.
Obtaining the actual rotation speed omega of the motor m And a target rotation speed omega r And taking the difference value of the two values as the fluctuation quantity of the motor rotating speed.
Therefore, according to the active damping control method provided by the embodiment of the application, the actual rotating speed of the motor is filtered through second-order low-pass filtering, filtering efficiency is guaranteed, and meanwhile, the filtered target rotating speed is smoother, so that the accuracy of torque compensation is improved.
In a specific embodiment, compensating the motor torque by the torque compensation amount includes:
acquiring DQ axis current of a motor;
calculating feedback torque according to DQ axis current;
calculating a target torque according to the feedback torque and the torque compensation amount;
the target torque is input to the motor.
In a specific implementation, DQ axis current (i.e., direct axis current and quadrature axis current) of the motor at the current moment is obtained, and it should be noted that the DQ axis current and the quadrature axis current may be obtained through collection by a current sensor, which is not limited in this application. Further, a feedback torque T is calculated according to DQ axis current at the present moment 2 So as to be in accordance with the feedback torque T 2 And a torque compensation amountThe target torque T is calculated.
As shown in fig. 2, in a specific embodiment, the actual rotational speed ω of the motor is calculated m After filtering, the filtering produces a delay problem, so as to reduce the efficiency of motor rotation speed compensation, so as to avoid the technical problem, in a preferred embodiment, the filtering is avoided by the delay compensation, and specifically, obtaining the DQ axis current of the motor includes:
acquiring DQ axis current of a motor at the current moment;
and predicting DQ axis current at the next moment according to the DQ axis current at the current moment to obtain DQ axis prediction current, wherein the DQ axis current is DQ axis prediction current and is used for compensating delay generated when the motor is filtered to an actual rotating speed.
Wherein, the DQ axis current expression at the present moment can be expressed as:
wherein i is d I is a direct axis (d axis) current q For quadrature (q-axis) current, L d L is the direct axis (d axis) inductance of the motor stator winding q R is the direct axis (q axis) inductance of the motor stator winding s For the resistance, ω, of the stator windings of the motor n For the mechanical angular velocity of the motor, ω e For the electrical angular velocity of the motor, ψ f A flux linkage for the permanent magnet.
Predicting DQ axis current at the next moment according to a formula (10) to obtain predicted current:
wherein T is s For the sampling period, k characterizes the current instant and k+1 characterizes the next instant. That is, the DQ axis current at the present time is calculated according to the formula (10), and the predicted current is predicted according to the formula (11).
Further, a feedback torque T is obtained 2 I.e.,wherein p is the pole pair number, ψ d Is a direct axis magnetic linkage, psi q Is a cross axis flux linkage.
Therefore, according to the active damping control method provided by the embodiment of the application, delay generated when the actual rotating speed of the motor is filtered is avoided through delay compensation, the motor torque compensation efficiency is improved, and the reliability of a vehicle motor system is further improved.
In the above embodiments, the active damping control method is described in detail, and the present application further provides a corresponding embodiment of the active damping control device. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware structure.
FIG. 5 is a schematic structural diagram of an active damping control device according to another embodiment of the present application, as shown in FIG. 5, the active damping control device includes:
an acquisition module 50 for acquiring a motor rotational speed fluctuation amount of the motor;
the calculation module 51 is used for inputting the fluctuation quantity of the motor rotation speed into the adaptive algorithm to calculate and obtain the torque compensation quantity of the active damping;
the compensation module 52 is configured to compensate the motor torque by the torque compensation amount.
In addition, the active damping control device provided in the embodiment of the present application further includes:
the motor mechanical motion equation acquisition module is used for acquiring a mechanical motion equation of the motor;
the determining module is used for determining a first-order differential equation of a reference model in the model reference adaptive control algorithm according to the mechanical motion equation;
the conversion module is used for converting the first-order differential equation into an exponential decay form to obtain a target equation;
the error dynamic equation determining module is used for determining an error dynamic equation in the model reference adaptive control algorithm according to the mechanical motion equation, the target equation and the motor rotation speed fluctuation quantity;
a definition module for defining a combined tracking error based on the error dynamic equation;
and the torque compensation quantity determining module is used for determining the torque compensation quantity according to the combined tracking error.
The motor actual rotating speed acquisition module is used for acquiring the motor actual rotating speed of the motor;
the filtering module is used for filtering the actual rotating speed of the motor to obtain a target rotating speed;
and the processing module is used for taking the difference value between the target rotating speed and the actual rotating speed of the motor as the fluctuation quantity of the rotating speed of the motor.
The DQ axis current acquisition module is used for acquiring DQ axis current of the motor;
the feedback torque calculation module is used for calculating the feedback torque according to the DQ axis current;
a target torque calculation module for calculating a target torque according to the feedback torque and the torque compensation amount;
and the input module is used for inputting the target torque into the motor.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Fig. 6 is a schematic structural diagram of an active damping control device according to another embodiment of the present application, and as shown in fig. 6, the active damping control device includes: a memory 60 for storing a computer program;
a processor 61 for implementing the steps of the active damping control method as mentioned in the above embodiments when executing a computer program.
The active damping control device provided in this embodiment may include, but is not limited to, a whole vehicle controller or other controllers of the whole vehicle.
Processor 61 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 61 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, abbreviated as DSP), a Field programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA), and a programmable logic array (Programmable Logic Array, abbreviated as PLA). The processor 61 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a central processor (Central Processing Unit, CPU for short); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 61 may be integrated with an image processor (Graphics Processing Unit, GPU for short) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 61 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.
Memory 60 may include one or more computer-readable storage media, which may be non-transitory. Memory 60 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 60 is at least used for storing a computer program 601, which, when loaded and executed by the processor 61, is capable of implementing the relevant steps of the active damping control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 60 may further include an operating system 602, data 603, and the like, where the storage manner may be transient storage or permanent storage. The operating system 602 may include Windows, unix, linux, among other things. The data 603 may include, but is not limited to, related data designed in an active damping control method, and the like.
In some embodiments, the active damping control device may further include a display 62, an input/output interface 63, a communication interface 64, a power supply 65, and a communication bus 66.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is not limiting of the active damping control device and may include more or fewer components than shown.
The active damping control device provided by the embodiment of the application comprises a memory and a processor, wherein the processor can realize the active damping control method in the embodiment when executing a program stored in the memory.
Finally, the present application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features of specific embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. On the other hand, the various features described in the individual embodiments may also be implemented separately in the various embodiments or in any suitable subcombination. Furthermore, although features may be acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
Similarly, although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.
Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Furthermore, the processes depicted in the accompanying drawings are not necessarily required to be in the particular order shown, or sequential order, to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An active damping control method, the method comprising:
acquiring the motor rotation speed fluctuation quantity of a motor;
inputting the fluctuation quantity of the motor rotating speed into an adaptive algorithm to calculate to obtain the torque compensation quantity of active damping;
and compensating the motor torque by the torque compensation amount.
2. The active damping control method of claim 1, wherein the adaptive algorithm is a model reference adaptive control algorithm.
3. The active damping control method according to claim 2, wherein inputting the motor rotational speed fluctuation amount into an adaptive algorithm to calculate a torque compensation amount of active damping comprises:
acquiring a mechanical motion equation of the motor;
determining a first-order differential equation of a reference model in the model reference adaptive control algorithm according to the mechanical motion equation;
converting the first-order differential equation into an exponential decay form to obtain a target equation;
determining an error dynamic equation in the model reference adaptive control algorithm according to the mechanical motion equation, the target equation and the motor rotation speed fluctuation quantity;
defining a combined tracking error based on the error dynamic equation;
the torque compensation amount is determined based on the combined tracking error.
4. The active damping control method of claim 1, wherein the acquiring the motor rotational speed fluctuation amount of the motor comprises:
acquiring the actual rotating speed of a motor of the motor;
filtering the actual rotating speed of the motor to obtain a target rotating speed;
and taking the difference value between the target rotating speed and the actual rotating speed of the motor as the fluctuation quantity of the rotating speed of the motor.
5. The active damping control method of claim 4, wherein filtering the actual rotational speed of the motor to obtain a target rotational speed comprises:
and filtering the actual rotating speed of the motor through second-order low-pass filtering to obtain the target rotating speed.
6. The active damping control method of claim 4, wherein compensating the motor torque by the torque compensation amount comprises:
acquiring DQ axis current of the motor;
calculating the feedback torque according to the DQ axis current;
calculating a target torque according to the feedback torque and the torque compensation amount;
the target torque is input to the motor.
7. The active damping control method of claim 6, wherein the obtaining DQ axis current of the motor comprises:
acquiring DQ axis current of the motor at the current moment;
and predicting DQ axis current at the next moment according to the DQ axis current at the current moment to obtain DQ axis prediction current, wherein the DQ axis current is the DQ axis prediction current and is used for compensating delay generated when the actual rotating speed of the motor is filtered.
8. An active damping control device, the device comprising:
the acquisition module is used for acquiring the motor rotating speed fluctuation quantity of the motor;
the calculation module is used for inputting the fluctuation quantity of the motor rotating speed into the self-adaptive algorithm to calculate to obtain the torque compensation quantity of active damping;
and the compensation module is used for compensating the motor torque through the torque compensation quantity.
9. An active damping control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the active damping control method according to any one of claims 1 to 7 when the program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the active damping control method according to any one of claims 1 to 7.
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| CN202311756493.7A CN117818371A (en) | 2023-12-19 | 2023-12-19 | Active damping control method, device and computer readable storage medium |
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| CN202311756493.7A CN117818371A (en) | 2023-12-19 | 2023-12-19 | Active damping control method, device and computer readable storage medium |
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